What data type does Moveit use

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Hello,

I was wondering what type of data Moveit uses when using octomaps. I have a pointcloud made with halcon which i want to convert to an octomap. This octomap is to be read by Moveit where i can check collisions. What data type is best used to convert to an octomap and what file type is used by Moveit?

Also if you happen to have some kind of tutorial on how to do this in ros, since i am new to ros and c++, i would appreciate it.

Kind regards Joris